Vehicular vision system

ABSTRACT

A vehicular vision system includes an interior-viewing camera disposed in a vehicle and viewing a driver of the vehicle, and a forward-viewing camera disposed at the vehicle and viewing at least forward of the vehicle. Responsive to image processing of image data captured by the interior-viewing camera, at least one selected from the group consisting of (i) position of the driver&#39;s head is determined and (ii) direction that the driver&#39;s eyes are viewing is determined. Responsive to image processing of image data captured by the forward-viewing camera and to image processing of image data captured by the interior-viewing camera, an object present exterior of the equipped vehicle and viewable by the driver is detected.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 17/247,693, filed Dec. 21, 2020, now U.S. Pat. No. 11,560,092,which is a continuation of U.S. patent application Ser. No. 16/410,086,filed May 13, 2019, now U.S. Pat. No. 10,875,453, which is acontinuation of U.S. patent application Ser. No. 15/681,700, filed Aug.21, 2017, now U.S. Pat. No. 10,286,843, which is a continuation of U.S.patent application Ser. No. 15/062,527, filed Mar. 7, 2016, now U.S.Pat. No. 9,738,224, which is a continuation of U.S. patent applicationSer. No. 14/272,834, filed May 8, 2014, now U.S. Pat. No. 9,280,202,which claims the filing benefits of U.S. provisional applications, Ser.No. 61/844,171, filed Jul. 9, 2013, and Ser. No. 61/821,922, filed May10, 2013, which are hereby incorporated herein by reference in theirentireties.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a collision avoidance system or visionsystem or imaging system for a vehicle that utilizes one or more cameras(preferably one or more CMOS cameras) to capture image datarepresentative of images exterior of the vehicle, and provides anaugmented reality by using heads-up glasses (such as, for example,Google Glass, which are eyeglasses that provide a wearable computer orprocessor with a head-mounted display to display images in front of thewearer's eye or eyes) and head and eye tracking to create a transparentview through the vehicle.

The present invention is suitable for parking applications and allowsthe driver to look or view through a non-transparent portion of thevehicle from inside of the vehicle. Captured images (such as imagesderived from image data captured by one or more vehicle cameras havingexterior fields of view) are displayed in a heads-up display manner,such as on the heads-up display eye glasses (such as on Google Glass orsimilar). Eye and head tracking for creating the view point is providedby an interior monitoring or vision system of the vehicle (such as aface and eye tracking camera or the like) and not at the glass oreyeglasses for weight purpose and ease of use of the heads-up displayglasses.

The vehicle vision system includes a plurality of exterior viewingcameras at the vehicle, such as surround view cameras outside of thevehicle, which create the image that is displayed for viewing by wearerof the eyeglasses. The image provided or displayed is based on a virtualcamera position that is at the location of the diver's eyes and in theirdirection of view (as determined by processing image data captured bythe eye and head tracking camera). The image will be displayed in theheads-up transparent display of the glasses worn by the driver of thevehicle (or may be otherwise displayed or projected in the direction ofthe driver's gaze and into the view of the driver). Therefore, thedriver can virtually look through the vehicle by simply moving his orher head and/or eyes towards a desired direction, such as towards anon-transparent portion of the vehicle, such as a side or rear panel ofthe vehicle or the hood and engine compartment of the vehicle or thelike.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a perspective views of a person's hand and the coordinatesystem used by a vision system or gesture recognition system of thepresent invention;

FIG. 3 is another perspective view of a person's hand, showing the handas virtually placed at a virtual ball or sphere or bowl; and

FIG. 4 is another perspective view of a person's hand, showing movementof the hand.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 d at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1 ). The vision system 12 includes a control or electroniccontrol unit (ECU) or processor 18 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). The datatransfer or signal communication from the camera to the ECU may compriseany suitable data or communication link, such as a vehicle network busor the like of the equipped vehicle.

In the illustrated embodiment, the vision system includes an interiormonitoring camera 22 having an interior field of view to capture imagesor image data of and track or monitor the position of the driver's headand the direction that the driver's eyes are looking (such as by usingaspects of the vision systems described in U.S. Pat. No. 7,914,187,which is hereby incorporated herein by reference in its entirety).Responsive to image processing of image data captured by the interiormonitoring camera, the system may determine the current driver's headand eye position/direction of view. The driver may wear heads-up displaytype eye glasses 24 and, responsive to the determination of the driver'sview direction, the system may generate an image (based on image datacaptured by one or more cameras having exterior fields of view thatencompass or partially encompass the driver's determined viewingdirection) using the driver's eyes position as the virtual view pointand may display the image at the heads-up display for viewing by thedriver of the vehicle, thus providing the driver with a view exterior ofthe vehicle even when the driver's vision may be blocked or partiallyblocked in that viewing direction.

The present invention provides a display system that may replace head updisplays and central displays within the vehicle by using the functionsof third party image projecting pairs of glasses such as similar to thetype of glasses known from Google-glasses (see, for example,http://de.wikipedia.org/wiki/Google_Glass;http://www.google.com/glass/start/). A main property of these glasses isto project images onto or into the inside of one the glass lenses oroptics of the eye glasses that a wearing person is wearing and lookingthrough.

The projection of the display image may be done by any suitable means,such as, for example:

-   -   by use of partially transparent and partially reflective or        non-light transmissive mirrors in the way of view through the        glasses and projecting an image into the mirrored glasses;    -   by use of a laser projection from the rear or side;    -   by use of an illuminating (partially transparent) OLED or the        like on or in front of the surface or embedded to the projecting        lenses or mirrors; and/or    -   by use of an LC-Matrix on or in front of the surface or embedded        in the projecting lenses or mirrors of the glasses.

The suggested preferred embodiment of the present invention includes notjust one glass projecting images, but a pair of glasses, which may(possibly or optionally) provide the viewer with a three dimensional(3D) view impression.

Optionally, the system of the present invention may support pseudoparallax projection, which basically relies on turning and shifting thevirtual view according the scene's virtual viewing depths (correctparallax movement) when the driver's head is moved (as detected by ahead tracker camera or the like). In such a case, just one projectingeyeglass may be sufficient.

Optionally, the eyeglasses or spectacles may detect the viewingdirection of the wearing person by itself (such that the system wouldnot need a separate eye and head monitoring camera or system in thevehicle). As another aspect of the present invention, the spectacles mayhave the capability to detect the focal distance of the person wearingthe spectacles. This may be achieved by having two parallel infraredlaser beams of harmless strength which may point to the viewer's eyes oreyes' iris center from the side, illuminating the eyeballs inner surfaceand the retina. By detecting the laser points distance at the eyeballsinner surface, the system may be able to determine the eye lensesrefractive power (bending of fluid lens). The detection may be made by asmall camera incorporated in the spectacle's structure. The Laser mayalso be incorporated in the eyeglasses' structure, and optionally withthe LASER beams being directed by a mirror system and a micro electromechanics (MEM) system or the like.

The preferred embodiment of the present invention includes an in cabin(preferably non spectacles) eye gaze detection device that will detectthe viewing direction of the driver's eyes and its position(alternatively, just the head position or the eyeglasses' surfaceposition may be detected and tracked). Typically, such systems employ aninfrared (IR) illumination source, such as IR light emitting diodes(LEDs) and an IR camera, and track the iris circle of the eye or eyes ortrack the corners of the person's head and/or other specific bodymarkers (such as, for example, the person's nose, mouth, ears, chin, eyedistance (bar) and/or forehead or the like).

The system thus may be responsive, at least in part, to the driver'sgaze being directed towards a non-transparent portion of the vehicle(and the system may determine when the driver's gaze is directed towardsa non-transparent portion of the vehicle), and may then generate thevirtual display that represents the scene exterior of the vehicle and atthe other side of the presently viewed non-transparent portion of thevehicle, such as would be seen by the driver if the driver viewedthrough the non-transparent portion of the vehicle. Such anon-transparent portion comprises a vehicle portion that occludes orprevents the driver from seeing an exterior region exterior of thatportion of the vehicle and at a blind spot area that exists due to thatnon-transparent portion blocking the driver's view. For example, thenon-transparent portion may comprise a driver or passenger side door ofthe vehicle (where the displayed virtual images may be derived fromimage data captured by one or more sideward viewing cameras of thevehicle), the vehicle hood and engine compartment (where the displayedvirtual images may be derived from image data captured by one or moreforward viewing cameras of the vehicle), a rear door or panel or decklidand trunk of the vehicle (where the displayed virtual images may bederived from image data captured by one or more rearward viewing camerasof the vehicle), the A-pillars and/or B-pillars and/or C-pillars of thevehicle (where the displayed virtual images may be derived from imagedata captured by one or more forward viewing cameras and/or sidewardviewing cameras and/or rearward viewing cameras of the vehicle) and/orthe like.

The virtual image may be displayed at or by the glasses worn by thedriver while the driver is operating the vehicle (whereby, when theglasses are not operating to provide the virtual display, the driverviews through the lenses of the glasses). When the display of theglasses is activated, the displayed or projected virtual image providesan image representative of the exterior scene at the other side of theobstruction or non-transparent portion of the vehicle, and may providethe display as a partially transparent display so the driver cancontinue to view other parts of the viewed scene through the lenses ofthe glasses in a relatively normal manner.

Optionally, the system may be responsive to a particular drivingcondition, and may activate the display responsive to a parkingmaneuver, such as when the vehicle is in reverse or driving at a forwardor reverse speed below a threshold level (such as about 5 mph orthereabouts). Optionally, the system may activate the display responsiveto a user input or other triggering event, such as when the systemdetermines that the driver is viewing in a particular direction, such asdownward and forward towards the engine compartment of the vehicle(whereby the system may display status information pertaining to one ormore systems or accessories of the vehicle). Optionally, the system maydisplay exterior views during a parking maneuver and/or may displaystatus information during forward driving speeds above a threshold leveland/or may otherwise select or determine which images or information todisplay depending on the driving condition and/or driver's gaze.

Optionally, the glasses may provide the displaying of an overlay image.The overlay image may comprise a combination of images takeninstantaneously (real time) by the exterior field of view vehiclecameras and/or other environmental sensors of the vehicle, such as, forexample, RADAR sensors, LADAR sensors, LIDAR sensors, TOF sensors,structured light sensors, ultrasonic sensors and/or capacitive sensorsor the like, and non-real time images and overlays. Optionally, otherand remote source images and image data (such as data captured by acamera or sensor remote from the vehicle and communicated to thevehicle, such as via a car2car or v2v or v2x communication system or thelike) may be added or mapped in, especially non real time information.

The vehicle inherent cameras may be part of an in cabin camera system ormonitoring system (typically one camera), a rear view vision system(typically one camera), a surround view vision system (typically threeor four or more cameras), a side mirror camera system (replacing theside rearview mirrors by a pair of a camera and a display or imagegiving device at each side of the vehicle) or a forward vision driverassistant system (typically one or two cameras and/or other sensors).

The present invention vision system's eyeglasses may display images ofthe (real time) outside (around the vehicle) scene within the driver'sview at positions at which the outside is hidden or obstructed from thedriver in the current viewing direction the driver is looking at (suchas by a non-transparent portion of the vehicle). By that the impressionis generated that the hiding objects (such as a portion of the vehicle)are partially transparent. For example, the outside scene behind the Apillar of the vehicle may be projected in the eye glasses at theposition that the A pillar actually is within the wearing person's orviewer's view (although described as being the driver of the vehicle,the wearing person or viewer may be any occupant of the vehicle,typically the driver, but could be a passenger in the passenger seat ora rear seat of the vehicle). Optionally, for example, when the viewer isviewing forwardly and downwardly towards an area immediately in front ofthe vehicle, the heads-up display may be provided based on images orimage data captured by a front camera of a surround view vision systemof the vehicle, whereby the image is displayed as if from a virtualcamera at the person's eyes, with the forward part of the vehicle (suchas the hood, engine compartment and/or the like) being transparent (ormaybe partially transparent so the person sees a portion of the vehiclethat he or she is viewing through) so that the person is effectivelyviewing through the vehicle to the area immediately in front of thevehicle.

The view of the outside world may have to be generated virtually forachieving a plausible view. The virtual view point (or virtual camera)should be at the viewer's eyes (or accordingly head or glasses) center.The virtual view may be generated based on outputs of the exteriorvision providing cameras and optionally outputs of other sensors.

As an option to the system of the present invention, the virtual view ofthe outside world may be generated as an augmented reality overlay fromthe inside and outside vision providing cameras and optionally thesensors instead of a natural image. For example, just a black and whiteimage, an edge sharpened image or a false color image may be provided. Apreferred augmented virtual reality overlay may comprise a night visionview showing enhanced details of the outside scene during night, such asimages produced from short range infrared sensors and showing highilluminated living (warm) objects produced from far range infraredsensors.

Applications for the heads up display eyeglasses may provide point ofinterest information overlays, maybe in form of a text banner at oroverhead a location. Other applications may be envisioned fornavigation. These application sources are typically not real time or atleast not fully real time (having a natural time delay, such as, forexample, with traffic jam- or weather forecast information or the like).

As another aspect of the present invention, the system may provideoverlay data and images which stand in relation to the vehicle anddriving context (the situation the vehicle is in or the drivingsituation). These may be fully real time or non-real time. For thedriving context, for example when the driver is pulling into a parkinglot, the system may (start to) provide free parking space directions, ormay provide transparent overlays within the parking spaces showing thesubject vehicle virtually within that parking space or spaces, maybeshowing the large enough ones in green and smaller ones or spaces thatare too small in red or the like. As an example for vehicle context, thesystem may provide a virtual overlay to the viewer when he or she islooking to the direction at its engine (in reality onto the hood), whichmay be shown as partially transparent under the hood. If no camera willbe there for capturing images of the engine itself, this overlay may begenerated by rendering the vehicle's engine drawing or simplifiedaugmentation of the drawing offline. When showing the engine, there maybe real time data overlays which may show the engine's coolanttemperature (by a symbolized thermometer), engine oil pressure, engineoil temperature, tire pressure, the current engine RPM and/or the oillevel or remaining distance to the next oil change (such as by showing apartially filled bar), or the like. Optionally, the system may onlydisplay status information for accessories or systems that are outsideof their normal operating ranges (such as when the tire pressure is lowor temperature is high or when the vehicle is very close to or past itsoil change mileage or the like).

Preferably, the conditions may have influence to the vehicle's virtualtransparency level and to the choice of which overlays are shown in asituation, condition or context. For example, when parking the vehicle,if the driver looks towards the engine, the display may provide adisplay of the area in front of the vehicle and not of the engine. Also,for example, when the engine is being shown, the coolant temperature maynot be shown when the temperature is within normal boundaries. Duringparking, the currently tuned in radio station may not be shown, foreliminating distractions to the driver. The system may detect the tiringlevel of the driver by any suitable driver monitoring means and may stepwise reduce the amount of presented information, warnings and aids (suchas images and overlays projected to the glasses) adjusted to thatdetected tiring level. The system may have the option for beingcustomized by the driver (or viewers) (over a menu or by situationalinteraction) or by learning the driver's (or viewer's) needs and likes(in silence and/or without direct intercommunication to the driver) fromthe driver's behavior or habits. The learning system may utilize oneunified or two Bayesian classifier or other classification models orother statistically knowledge based learning systems for achieving that.

For classifying the driver's or user's needs, the preferably invokedfunctions, modes or systems may comprise an input to the classificationmodel for being offered to be invoked or being invoked automatically insimilar situations, conditions or contexts in future. For classifying abehavior or habit, the rate of replication may comprise an input to theclassification model.

As an additional aspect of the present invention, inputs to theclassification models may also include the time of day, the season, theoutside weather condition, the in cabin temperature and moisture (insideweather or climate), the number of occupants in the vehicle, the trafficsituation (traffic jam, free, construction side, and/or the like), thekind of road that the vehicle is traveling on (off road, parking lot,highway, city street) and/or the like. Additionally, or alternatively,the models may employ a kind of scoring level of the stress factorsappealing to the driver (or user) or scoring level of tiering.Alternatively, the models may receive the data from another system.

Other vehicle context related overlay applications may include:

gear status

remaining fuel

battery status

tire wear

tire inflation

oil pressure

coolant pressure

sportive/economic driving suggestions (as like gear change)

suspension system mode

light bulb defects

blinker state

comfort controls states.

Other driving context related overlay applications may include:

city

motorway

intersection

parking house

car wash through driving

overtaking

being overtaken

cruise controlled driving

lane assisted driving

traffic jam driving

snow conditions

icy conditions

foggy conditions

rain conditions

night conditions

off road conditions

accident conditions

emergency conditions

driving beginner conditions

high/drunk driving conditions

elderly driving conditions

other less definable driving conditions such as female or male drivingstyles.

As another option, the system of the present invention may comprise inaddition to the eyeglasses and head tracking devices and itsfunctionalities, a gesture detection system as well. That system maycome separate from or may be incorporated in the head tracking system.The system may be (also) based on infrared, or it may be based onstructured light, time of flight, stereo vision or structure from motioninformation or the like.

To use gesture recognition as a user input interface for controls andcommands may be suitable for use in automotive vision. The presentinvention will present the visual interfaces fully virtual by theearlier specified heads up display eyeglasses or spectacles. Thespectacles may show virtual control buttons, knobs, sliders and/orlevers and/or the like, preferably in the area of reach of the viewerand the detection range of the gesture detection system. The viewer maygrab and turn, push pull or shift or actuate the virtual buttons, knobsand levers at its virtual position in the real cabin room. Thus, thegestures don't need to be somehow vague and primitive as like in typicalgesture control systems. Because the virtual reality may directly reactto the virtual control commands made by the viewer's gestures a loopedlinkage will be given. This will give the user the ability to do somefine/delicate/dedicated inputs such as like adjusting a virtual sliderof a heating control, for example in an accuracy of one of eighteendigits with one increment per about 5 mm (there may be additionally thepossibility to freely scale a control when active, by that theincrements could have wider space).

As another example for supporting the control of a virtual view withinan eyeglasses or spectacles by gesture, there may be the control of avirtual vehicle surround view camera system. For controlling a virtual,or alternatively, real camera (-view) by gesture, the driver (or user)may hold his or her hand into the air (may be at about breast height asa convenient height) such as like resting the hand on a (virtual orimaginary) ball or bowl (virtual reality systems may or may not showthis bowl additionally).

An example of this is shown in FIGS. 2 and 3 . Responsive to a detectionof (thought) gliding sidewards with the hand on the (thought) topsurface of the (thought) ball or bowl, the virtual camera view may rollor adjust in an according angle and direction, or a real camera may rollor adjust as actuated by actuators. Pitching the hand (gliding forwardand backward on the (thought) bowl surface) may control an accordingpitching of the real camera or virtual camera view (such as can be seenwith reference to FIG. 4 ). At the time the hand does a yaw turning, thereal camera or virtual camera view may change yaw. By raising andlowering the hand, the virtual view point may go up and down, by movingthe hand sidewards, the virtual camera may traverse by keeping itslooking angle. In practice, there may be no actuators to also raise,lower and traverse a real camera, so this function may only be availableon virtual camera views.

Additionally, or alternatively, as eventually more intuitive control isprovided, the driver (or user) may have the ability to grab a virtuallyprojected vehicle (preferably projected within his or her area of reach)and turn it virtually (with his or her real world or partially or fullyaugmented hand). By doing that, the system, responsive to such handgesture or movement, may change the driver's viewing direction relativeto the vehicle accordingly.

Optionally, the virtual control elements may be mixed with real controlelements or surfaces. Such a surface may be comprised by a MagnaIntelligent Surface Technology (integrated Device Molding Procedure(IDMP)) interior device as like the center arm rest (see, for example,http://wardsauto.com/suppliers/magna-intelligent-surface-technology-amplifies-hmi-connection).The real control elements may be dedicated to different virtual controlfunctions. In practice, maybe just the control labeling will bevirtually mapped, but the knob may be always the same real one, useduniversally. The real control elements may naturally come with theproperty to have a haptic feedback to the user. When using MagnaIntelligent Surface Technology, the haptic feedback will be producedartificially (with a vibrator or unbalanced motor under the surface) asa knocking, vibrating or shaking. The feedback, such as the frequency orthe like, may be in accordance to the driver's inputs.

As another optional feature, real controls may act like they areactuated by a driver or user but actually may be actuated by a virtualbody or avatar. As an example, the avatar may explain or introduce thedriver to complex functions and interfaces of his or her (eventuallynewly bought) vehicle or as a kind of “help” record, which may be playedon request or spontaneous at the time the system senses the driver oruser has problems with user interfaces and/or functions (this option maybe separate or may be comprised as a part of above mentionedclassification models of user “needs”). In there, a human like avatarmay virtually grab a real knob and turn it by his/her/its virtual hand.In reality, the knob will turn actuated by an inherent (invisiblycovered) actuator in a timely corresponding fashion as the avatar's handturns.

As another option, the virtual controls may have a virtual nature whichisn't doable in reality. For example, a controls menu may be projectedas a flying cube for which the menu pages may change by turning thatcube. This may be called a control object. A real cube has just sixsurfaces which would limit the menu to six pages, but the virtual cubemay change its surfaces content at the surfaces which face away from theviewer. By that such a menu would have possibly an infinite number ofpages. According to the above, the turning of the cube may be done bygrabbing it (or grabbing at the space where it is virtually depicted) byone hand and turning it. Of course, virtual control objects will nothave haptic properties when being manipulated by hand gestures.

Optionally, a glove for haptic feedback may find use to give hapticfeedback to virtual control elements or virtual control objects or othervirtual objects. The glove may provide a haptic feedback to the userwhen the user's hand (in the glove) is at the location at which thevirtual control element is “located”, such as by providing pressure atareas of the user's hand that grasp at the virtual control element.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO2013/123161; WO 2013/126715; WO 2013/043661 and/or WO 2013/158592,and/or U.S. patent applications, Ser. No. 14/248,602, filed Apr. 9, 2014and published Oct. 16, 2014 as U.S. Publication No. US-2014/0309884;Ser. No. 14/242,038, filed Apr. 1, 2014 and published Aug. 14, 2014 asU.S. Publication No. US-2014/0226012; Ser. No. 14/229,061, filed Mar.28, 2014 and published Oct. 2, 2014 as U.S. Publication No.US-2014/0293042; Ser. No. 14/343,937, filed Mar. 10, 2014 and publishedAug. 21, 2014 as U.S. Publication No. US-2014-0232872; Ser. No.14/343,936, filed Mar. 10, 2014 and published Aug. 7, 2014 as U.S.Publication No. US-2014/0218535; Ser. No. 14/195,135, filed Mar. 3, 2014and published Sep. 4, 2014 as U.S. Publication No. US-2014/0247354; Ser.No. 14/195,136, filed Mar. 3, 2014 and published Sep. 4, 2014 as U.S.Publication No. US-2014/0247355; Ser. No. 14/191,512, filed Feb. 27,2014 and published Sep. 4, 2014 as U.S. Publication No. US-2014/0247352;Ser. No. 14/183,613, filed Feb. 19, 2014 and published Aug. 21, 2014 asU.S. Publication No. US-2014/0232869; Ser. No. 14/169,329, filed Jan.31, 2014 and published Aug. 7, 2014 as U.S. Publication No.US-2014/0218529; Ser. No. 14/169,328, filed Jan. 31, 2014, now U.S. Pat.No. 9,092,986; Ser. No. 14/163,325, filed Jan. 24, 2014 and publishedJul. 31, 2014 as U.S. Publication No. US-2014/0211009; Ser. No.14/159,772, filed Jan. 21, 2014, now U.S. Pat. No. 9,068,390; Ser. No.14/107,624, filed Dec. 16, 2013, now U.S. Pat. No. 9,140,789; Ser. No.14/102,981, filed Dec. 11, 2013 and published Jun. 12, 2014 as U.S.Publication No. US-2014/0160276; Ser. No. 14/102,980, filed Dec. 11,2013 and published Jun. 19, 2014 as U.S. Publication No.US-2014/0168437; Ser. No. 14/098,817, filed Dec. 6, 2013 and publishedJun. 19, 2014 as U.S. Publication No. US-2014/0168415; Ser. No.14/097,581, filed Dec. 5, 2013 and published Jun. 12, 2014 as U.S.Publication No. US-2014/0160291; Ser. No. 14/093,981, filed Dec. 2,2013, now U.S. Pat. No. 8,917,169; Ser. No. 14/093,980, filed Dec. 2,2013 and published Jun. 5, 2014 as U.S. Publication No. US-2014/0152825;Ser. No. 14/082,573, filed Nov. 18, 2013 and published May 22, 2014 asU.S. Publication No. US-2014/0139676; Ser. No. 14/082,574, filed Nov.18, 2013 and published May 22, 2014 as U.S. Publication No.US-2014/0138140; Ser. No. 14/082,575, filed Nov. 18, 2013, now U.S. Pat.No. 9,090,234; Ser. No. 14/082,577, filed Nov. 18, 2013, now U.S. Pat.No. 8,818,042; Ser. No. 14/071,086, filed Nov. 4, 2013, now U.S. Pat.No. 8,886,401; Ser. No. 14/076,524, filed Nov. 11, 2013, now U.S. Pat.No. 9,077,962; Ser. No. 14/052,945, filed Oct. 14, 2013 and publishedApr. 17, 2014 as U.S. Publication No. US 2014/0104426; Ser. No.14/046,174, filed Oct. 4, 2013 and published Apr. 10, 2014 as U.S.Publication No. US 2014/0098229; Ser. No. 14/036,723, filed Sep. 25,2013 and published Mar. 27, 2014 as U.S. Publication No. US2014/0085472; Ser. No. 14/016,790, filed Sep. 3, 2013 and published Mar.6, 2014 as U.S. Publication No. US-2014/0067206; Ser. No. 14/001,272,filed Aug. 23, 2013, now U.S. Pat. No. 9,233,641; Ser. No. 13/970,868,filed Aug. 20, 2013 and published Feb. 20, 2014 as U.S. Publication No.US-2014/0049646; Ser. No. 13/964,134, filed Aug. 12, 2013 and publishedFeb. 20, 2014 as U.S. Publication No. US-2014/0052340; Ser. No.13/942,758, filed Jul. 16, 2013 and published Jan. 23, 2014 as U.S.Publication No. 2014/0025240; Ser. No. 13/942,753, filed Jul. 16, 2013and published Jan. 30, 2014 as U.S. Publication No. 2014/0028852; Ser.No. 13/927,680, filed Jun. 26, 2013 and published Jan. 2, 2014 as U.S.Publication No. 2014/0005907; Ser. No. 13/916,051, filed Jun. 12, 2013and published Dec. 26, 2013 as U.S. Publication No. 2013/0344736; Ser.No. 13/894,870, filed May 15, 2013 and published Nov. 28, 2013 as U.S.Publication No. 2013/0314503; Ser. No. 13/887,724, filed May 6, 2013 andpublished Nov. 14, 2013 as U.S. Publication No. 2013/0298866; Ser. No.13/852,190, filed Mar. 28, 2013 and published Aug. 29, 2013 as U.S.Publication No. US-2013/022593; Ser. No. 13/851,378, filed Mar. 27, 2013and published Nov. 14, 2013 as U.S. Publication No. 2013/0300869; Ser.No. 13/848,796, filed Mar. 22, 2012 and published Oct. 24, 2013 as U.S.Publication No. 2013/0278769; Ser. No. 13/847,815, filed Mar. 20, 2013and published Oct. 31, 2013 as U.S. Publication No. 2013/0286193; Ser.No. 13/800,697, filed Mar. 13, 2013 and published Oct. 3, 2013 as U.S.Publication No. 2013/0258077; Ser. No. 13/785,099, filed Mar. 5, 2013and published Sep. 19, 2013 as U.S. Publication No. 2013/0242099; Ser.No. 13/779,881, filed Feb. 28, 2013 and published Sep. 5, 2013 as U.S.Publication No. 2013/0231825; Ser. No. 13/774,317, filed Feb. 22, 2013and published Aug. 29, 2013 as U.S. Publication No. 2013/0222592; Ser.No. 13/774,315, filed Feb. 22, 2013 and published Aug. 22, 2013 as U.S.Publication No. 2013/0215271; Ser. No. 13/681,963, filed Nov. 20, 2012and published Jun. 6, 2013 as U.S. Publication No. 2013/0141578; Ser.No. 13/660,306, filed Oct. 25, 2012 and published May 9, 2013 as U.S.Publication No. 2013/0116859; Ser. No. 13/653,577, filed Oct. 17, 2012and published Apr. 25, 2013 as U.S. Publication No. 2013/0099908; and/orSer. No. 13/534,657, filed Jun. 27, 2012 and published Jan. 3, 2013 asU.S. Publication No. 2013/0002873, and/or U.S. provisional applications,Ser. No. 61/977,941, filed Apr. 10, 2014; Ser. No. 61/977,940. filedApr. 10, 2014; Ser. No. 61/977,929, filed Apr. 10, 2014; Ser. No.61/977,928, filed Apr. 10, 2014; Ser. No. 61/973,922, filed Apr. 2,2014; Ser. No. 61/972,708, filed Mar. 31, 2014; Ser. No. 61/972,707,filed Mar. 31, 2014; Ser. No. 61/969,474, filed Mar. 24, 2014; Ser. No.61/955,831, filed Mar. 20, 2014; Ser. No. 61/952,335, filed Mar. 13,2014; Ser. No. 61/952,334, filed Mar. 13, 2014; Ser. No. 61/950,261,filed Mar. 10, 2014; Ser. No. 61/950,261, filed Mar. 10, 2014; Ser. No.61/947,638, filed Mar. 4, 2014; Ser. No. 61/947,053, filed Mar. 3, 2014;Ser. No. 61/942,568, filed Feb. 19, 2014; Ser. No. 61/935,485, filedFeb. 4, 2014; Ser. No. 61/935,057, filed Feb. 3, 2014; Ser. No.61/935,056, filed Feb. 3, 2014; Ser. No. 61/935,055, filed Feb. 3, 2014;Ser. 61/931,811, filed Jan. 27, 2014; Ser. No. 61/919,129, filed Dec.20, 2013; Ser. No. 61/919,130, filed Dec. 20, 2013; Ser. No. 61/919,131,filed Dec. 20, 2013; Ser. No. 61/919,147, filed Dec. 20, 2013; Ser. No.61/919,138, filed Dec. 20, 2013, Ser. No. 61/919,133, filed Dec. 20,2013; Ser. No. 61/918,290, filed Dec. 19, 2013; Ser. No. 61/915,218,filed Dec. 12, 2013; Ser. No. 61/912,146, filed Dec. 5, 2013; Ser. No.61/911,666, filed Dec. 4, 2013; Ser. No. 61/911,665, filed Dec. 4, 2013;Ser. No. 61/905,461, filed Nov. 18, 2013; Ser. No. 61/905,462, filedNov. 18, 2013; Ser. No. 61/901,127, filed Nov. 7, 2013; Ser. No.61/895,610, filed Oct. 25, 2013; Ser. No. 61/895,609, filed Oct. 25,2013; Ser. No. 61/879,837, filed Sep. 19, 2013; Ser. No. 61/879,835,filed Sep. 19, 2013; Ser. No. 61/878,877, filed Sep. 17, 2013; Ser. No.61/875,351, filed Sep. 9, 2013; Ser. No. 61/869,195, filed. Aug. 23,2013; Ser. No. 61/864,835, filed Aug. 12, 2013; Ser. No. 61/864,836,filed Aug. 12, 2013; Ser. No. 61/864,837, filed Aug. 12, 2013; Ser. No.61/864,838, filed Aug. 12, 2013; Ser. No. 61/856,843, filed Jul. 22,2013, Ser. No. 61/845,061, filed Jul. 11, 2013; Ser. No. 61/844,630,filed Jul. 10, 2013; Ser. No. 61/844,173, filed Jul. 9, 2013; Ser. No.61/844,171, filed Jul. 9, 2013; Ser. No. 61/842,644, filed Jul. 3, 2013;Ser. No. 61/840,542, filed Jun. 28, 2013; Ser. No. 61/838,619, filedJun. 24, 2013; Ser. No. 61/838,621, filed Jun. 24, 2013; Ser. No.61/837,955, filed Jun. 21, 2013; Ser. No. 61/836,900, filed Jun. 19,2013; Ser. No. 61/836,380, filed Jun. 18, 2013; Ser. No. 61/833,080,filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3, 2013; Ser. No.61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752, filed May 21, 2013;Ser. No. 61/825,753, filed May 21, 2013; Ser. No. 61/823,648, filed May15, 2013; Ser. No. 61/823,644, filed May 15, 2013; Ser. No. 61/821,922,filed May 10, 2013; Ser. No. 61/819,835, filed May 6, 2013; Ser. No.61/819,033, filed May 3, 2013; Ser. No. 61/816,956, filed Apr. 29, 2013;Ser. No. 61/815,044, filed Apr. 23, 2013; Ser. No. 61/814,533, filedApr. 22, 2013; and/or Ser. No. 61/813,361, filed Apr. 18, 2013, whichare all hereby incorporated herein by reference in their entireties. Thesystem may communicate with other communication systems via any suitablemeans, such as by utilizing aspects of the systems described inInternational Publication Nos. WO 2010/144900; WO 2013/043661 and/or WO2013/081985, and/or U.S. patent application Ser. No. 13/202,005, filedAug. 17, 2011, now U.S. Pat. No. 9,126,525, which are herebyincorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and/or 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. Pat.Publication No. US 2010-0020170, and/or U.S. patent application Ser. No.13/534,657, filed Jun. 27, 2012 and published Jan. 3, 2013 as U.S.Publication No. 2013/0002873, which are all hereby incorporated hereinby reference in their entireties. The camera or cameras may comprise anysuitable cameras or imaging sensors or camera modules, and may utilizeaspects of the cameras or sensors described in U.S. Publication No.US-2009-0244361 and/or U.S. patent application Ser. No. 13/260,400,filed Sep. 26, 2011, now U.S. Pat. No. 8,542,451, and/or U.S. Pat. Nos.7,965,336 and/or 7,480,149, which are hereby incorporated herein byreference in their entireties. The imaging array sensor may comprise anysuitable sensor, and may utilize various imaging sensors or imagingarray sensors or cameras or the like, such as a CMOS imaging arraysensor, a CCD sensor or other sensors or the like, such as the typesdescribed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093;5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642;6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261;6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149; 7,038,577;7,004,606; 7,720,580 and/or 7,965,336, and/or International PublicationNos. WO 2009/036176 and/or WO 2009/046268, which are all herebyincorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577;5,929,786 and/or 5,786,772, and/or U.S. provisional applications, Ser.No. 60/628,709, filed Nov. 17, 2004; Ser. No. 60/614,644, filed Sep. 30,2004; Ser. No. 60/618,686, filed Oct. 14, 2004; Ser. No. 60/638,687,filed Dec. 23, 2004, which are hereby incorporated herein by referencein their entireties, a video device for internal cabin surveillanceand/or video telephone function, such as disclosed in U.S. Pat. Nos.5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties, a traffic sign recognition system, asystem for determining a distance to a leading or trailing vehicle orobject, such as a system utilizing the principles disclosed in U.S. Pat.Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. Nos. 7,255,451 and/or7,480,149, and/or U.S. Publication No. US-2006-0061008 and/or U.S.patent application Ser. No. 12/578,732, filed Oct. 14, 2009 andpublished Apr. 22, 2010 as U.S. Publication No. US-2010-0097469, whichare hereby incorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. Publication No.US-2006-0061008, which are all hereby incorporated herein by referencein their entireties. Optionally, the video mirror display screen ordevice may be operable to display images captured by a rearward viewingcamera of the vehicle during a reversing maneuver of the vehicle (suchas responsive to the vehicle gear actuator being placed in a reversegear position or the like) to assist the driver in backing up thevehicle, and optionally may be operable to display the compass headingor directional heading character or icon when the vehicle is notundertaking a reversing maneuver, such as when the vehicle is beingdriven in a forward direction along a road (such as by utilizing aspectsof the display system described in International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Publication Nos. US-2006-0061008 and/orUS-2006-0050018, which are all hereby incorporated herein by referencein their entireties. The display is viewable through the reflectiveelement when the display is activated to display information. Thedisplay element may be any type of display element, such as a vacuumfluorescent (VF) display element, a light emitting diode (LED) displayelement, such as an organic light emitting diode (OLED) or an inorganiclight emitting diode, an electroluminescent (EL) display element, aliquid crystal display (LCD) element, a video screen display element orbacklit thin film transistor (TFT) display element or the like, and maybe operable to display various information (as discrete characters,icons or the like, or in a multi-pixel manner) to the driver of thevehicle, such as passenger side inflatable restraint (PSIR) information,tire pressure status, and/or the like. The mirror assembly and/ordisplay may utilize aspects described in U.S. Pat. Nos. 7,184,190;7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporatedherein by reference in their entireties. The thicknesses and materialsof the coatings on the substrates of the reflective element may beselected to provide a desired color or tint to the mirror reflectiveelement, such as a blue colored reflector, such as is known in the artand such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or7,274,501, which are hereby incorporated herein by reference in theirentireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vehicular vision system, the vehicular vision system comprising: aninterior-viewing camera disposed in an interior cabin of a vehicleequipped with the vehicular vision system, the interior-viewing cameraviewing a driver of the equipped vehicle; wherein the interior-viewingcamera captures image data; wherein the interior-viewing cameracomprises a CMOS imaging array sensor having at least one millionphotosensor elements arranged in multiple rows and columns ofphotosensor elements; a forward-viewing camera disposed at a windshieldof the equipped vehicle, the forward-viewing camera viewing at leastforward of the equipped vehicle; wherein the forward-viewing cameracomprises a CMOS imaging array sensor having at least one millionphotosensor elements arranged in multiple rows and columns ofphotosensor elements; wherein the forward-viewing camera captures imagedata; wherein, responsive to image processing of image data captured bythe interior-viewing camera, at least one selected from the groupconsisting of (i) position of the driver's head is determined and (ii)direction that the driver's eyes are viewing is determined; and wherein,responsive to image processing of image data captured by theforward-viewing camera and to image processing of image data captured bythe interior-viewing camera, an object present exterior of the equippedvehicle and viewable by the driver is detected.
 2. The vehicular visionsystem of claim 1, wherein the object present exterior of the equippedvehicle comprises a pedestrian.
 3. The vehicular vision system of claim1, wherein the object present exterior of the equipped vehicle comprisesa vehicle.
 4. The vehicular vision system of claim 1, comprising a videodisplay screen disposed in the equipped vehicle operable to displayvideo images,
 5. The vehicular vision system of claim 4, wherein videoimages derived from image data captured by at least the forward-viewingcamera are displayed at the video display screen for viewing by thedriver of the equipped vehicle.
 6. The vehicular vision system of claim4, wherein, based at least in part on image processing of image datacaptured by the interior-viewing camera, the displayed video images areadjusted.
 7. The vehicular vision system of claim 4, wherein, responsiveto image processing of image data captured by the interior-viewingcamera, direction that the driver's eyes are viewing is determined, andwherein the displayed video images are adjusted based at least in parton the determined direction that the driver's eyes are viewing.
 8. Thevehicular vision system of claim 7, wherein the video display screendisplays an augmented reality overlay that is based at least in part onprocessing of image data captured by the forward-viewing camera, andwherein the displayed augmented reality overlay is based at least inpart on the determined direction that the driver's eyes are viewing. 9.The vehicular vision system of claim 8, wherein the displayed augmentedreality overlay pertains to at least one accessory of the equippedvehicle.
 10. The vehicular vision system of claim 9, wherein thedisplayed augmented reality overlay is displayed based at least in parton a driving condition of the equipped vehicle.
 11. The vehicular visionsystem of claim 10, wherein, responsive to determination that thedirection that the driver's eyes are viewing is towards an enginecompartment of the equipped vehicle, the displayed augmented realityoverlay comprises information pertaining to at least one of (i) engineoperating RPM, (ii) oil pressure, (iii) oil level, (iv) coolanttemperature and (v) tire pressure.
 12. The vehicular vision system ofclaim 4, wherein, responsive to image processing of image data capturedby the interior-viewing camera, a hand position of the driver of theequipped vehicle is determined, and wherein the displayed video imagesare adjusted based at least in part on the determined hand position ofthe driver of the equipped vehicle.
 13. The vehicular vision system ofclaim 12, wherein the vehicular vision system displays video images atthe video display screen responsive to the determined hand position ofthe driver of the equipped vehicle.
 14. The vehicular vision system ofclaim 13, wherein the determined hand position comprises a hand gestureby the driver of the equipped vehicle.
 15. The vehicular vision systemof claim 1, wherein, responsive to image processing of image datacaptured by the interior-viewing camera, a hand position of the driverof the equipped vehicle is determined,
 16. The vehicular vision systemof claim 15, wherein the vehicular vision system controls at least oneaccessory of the equipped vehicle responsive to the determined handposition of the driver of the equipped vehicle.
 17. The vehicular visionsystem of claim 16, wherein the determined hand position comprises ahand gesture by the driver of the equipped vehicle.
 18. The vehicularvision system of claim 15, wherein at least one of (i) pitch of theforward-viewing camera is controlled responsive to the determined handposition of the driver of the equipped vehicle, (ii) roll of theforward-viewing camera is controlled responsive to the determined handposition of the driver of the equipped vehicle and (iii) yaw of theforward-viewing camera is controlled responsive to the determined handposition of the driver of the equipped vehicle.
 19. The vehicular visionsystem of claim 18, wherein the determined hand position comprises ahand gesture by the driver of the equipped vehicle.
 20. The vehicularvision system of claim 1, wherein image data captured by theforward-viewing camera is provided to an electronic control unit (ECU)of the equipped vehicle, and wherein image data captured by theforward-viewing camera provided to the ECU is processed at the ECU. 21.The vehicular vision system of claim 20, wherein image data captured bythe interior-viewing camera is provided to the ECU, and wherein imagedata captured by the interior-viewing camera provided to the ECU isprocessed at the ECU.
 22. The vehicular vision system of claim 1,wherein, responsive to image processing of image data captured by theinterior-viewing camera, position of the driver's head is determined andis tracked.
 23. The vehicular vision system of claim 1, wherein,responsive to image processing of image data captured by theforward-viewing camera, a driving condition exterior of the equippedvehicle is determined.
 24. The vehicular vision system of claim 23,wherein the determined driving condition exterior of the equippedvehicle comprises a parking maneuver of the equipped vehicle.
 25. Thevehicular vision system of claim 1, wherein image data captured by theforward-viewing camera is processed for a plurality of driver assistantsystems of the equipped vehicle.
 26. The vehicular vision system ofclaim 25, wherein the plurality of driver assistant systems of theequipped vehicle comprises a headlamp control system of the equippedvehicle and a lane departure warning system of the equipped vehicle. 27.The vehicular vision system of claim 26, wherein the plurality of driverassistant systems of the equipped vehicle comprises a traffic signrecognition system of the equipped vehicle.
 28. The vehicular visionsystem of claim 1, wherein, responsive, to image processing of imagedata captured by the interior-viewing camera, 0) position of thedriver's head is determined and (ii) direction that the driver's eyesare viewing is determined.
 29. The vehicular vision system of claim 28,wherein, responsive to image processing of image data captured by theinterior-viewing camera, position of the driver's head is tracked.
 30. Avehicular vision system, the vehicular vision system comprising: aninterior-viewing camera disposed in an interior cabin of a vehicleequipped with the vehicular vision system, the interior-viewing cameraviewing a driver of the equipped vehicle; wherein the interior-viewingcamera captures image data; wherein the interior-viewing cameracomprises a CMOS imaging array sensor having at least one millionphotosensor elements arranged in multiple rows and columns ofphotosensor elements; a forward-viewing camera disposed at a windshieldof the equipped vehicle, the forward-viewing camera viewing at leastforward of the equipped vehicle; wherein the forward-viewing cameracomprises a CMOS imaging array sensor having at least one millionphotosensor elements arranged in multiple rows and columns ofphotosensor elements; wherein the forward-viewing camera captures imagedata; wherein image data captured by the forward-viewing camera isprovided to an electronic control unit (ECU) of the equipped vehicle,and wherein image data captured by the forward-viewing camera providedto the ECU is processed at the ECU; wherein, responsive to imageprocessing of image data captured by the interior-viewing camera, atleast one selected from the group consisting of (i) position of thedriver's head is determined and (ii) direction that the driver's eyesare viewing is determined; wherein, responsive to image processing ofimage data captured by the forward-viewing camera and to imageprocessing of image data captured by the interior-viewing camera, anobject present exterior of the equipped vehicle and viewable by thedriver is detected; and wherein image data captured by theforward-viewing camera is processed for a plurality of driver assistantsystems of the equipped vehicle.
 31. The vehicular vision system ofclaim 30, wherein the object present exterior of the equipped vehiclecomprises a pedestrian.
 32. The vehicular vision system of claim 30,wherein the object present exterior of the equipped vehicle comprises avehicle.
 33. The vehicular vision system of claim 30, comprising a videodisplay screen disposed in the equipped vehicle and operable to displayvideo images derived from image data captured by at least theforward-viewing camera for viewing by the driver of the equippedvehicle.
 34. The vehicular vision system of claim 33, wherein, based atleast in part on image processing of image data captured by theinterior-viewing camera, the displayed video images are adjusted. 35.The vehicular vision system of claim 33, wherein, responsive to imageprocessing of image data captured by the interior-viewing camera,direction that the driver's eyes are viewing is determined, and whereinthe displayed video images are adjusted based at least in part on thedetermined direction that the driver's eyes are viewing.
 36. Thevehicular vision system of claim 33, wherein, responsive to imageprocessing of image data captured by the interior-viewing camera,direction that the driver's eyes are viewing is determined, and whereinthe video display screen displays an augmented reality overlay that isbased at least in part on processing of image data captured by theforward-viewing camera, and wherein the displayed augmented realityoverlay is based at least in part on the determined direction that thedriver's eyes are viewing.
 37. The vehicular vision system of claim 36,wherein the displayed augmented reality overlay pertains to at least oneaccessory of the equipped vehicle.
 38. The vehicular vision system ofclaim 37, wherein the displayed augmented reality overlay is displayedbased at least in part on a driving condition of the equipped vehicle.39. The vehicular vision system of claim 38, wherein, responsive todetermination that the direction that the driver's eyes are viewing istowards an engine compartment of the equipped vehicle, the displayedaugmented reality overlay comprises information pertaining to at leastone of (i) engine operating RPM, (ii) oil pressure, (iii) oil level,(iv) coolant temperature and (v) tire pressure.
 40. The vehicular visionsystem of claim 33, wherein, responsive to image processing of imagedata captured by the interior-viewing camera, a hand position of thedriver of the equipped vehicle is determined, and wherein the displayedvideo images are adjusted based at least in part on the determined handposition of the driver of the equipped vehicle.
 41. The vehicular visionsystem of claim 40, wherein the vehicular vision system displays videoimages at the video display screen responsive to the determined handposition of the driver of the equipped vehicle.
 42. The vehicular visionsystem of claim 41, wherein the determined hand position comprises ahand gesture by the driver of the equipped vehicle.
 43. The vehicularvision system of claim 30, wherein, responsive to image processing ofimage data captured by the interior-viewing camera, a hand position ofthe driver of the equipped vehicle is determined.
 44. The vehicularvision system of claim 43, wherein the vehicular vision system controlsat least one accessory of the equipped vehicle responsive to thedetermined hand position of the driver of the equipped vehicle.
 45. Thevehicular vision system of claim 44, wherein the determined handposition comprises a hand gesture by the driver of the equipped vehicle.46. The vehicular vision system of claim 43, wherein at least one of (i)pitch of the forward-viewing camera is controlled responsive to thedetermined hand position of the driver of the equipped vehicle, (ii)roll of the forward-viewing camera is controlled responsive to thedetermined hand position of the driver of the equipped vehicle and (iii)yaw of the forward-viewing camera is controlled responsive to thedetermined hand position of the driver of the equipped vehicle.
 47. Thevehicular vision system of claim 46, wherein the determined handposition comprises a hand gesture by the driver of the equipped vehicle.48. The vehicular vision system of claim 30, wherein, responsive toimage processing of image data captured by the interior-viewing camera,position of the driver's head is determined and is tracked.
 49. Thevehicular vision system of claim 30, wherein, responsive to imageprocessing of image data captured by the forward-viewing camera, adriving condition exterior of the equipped vehicle is determined. 50.The vehicular vision system of claim 49, wherein the determined drivingcondition exterior of the equipped vehicle comprises a parking maneuverof the equipped vehicle.
 51. The vehicular vision system of claim 30,wherein the plurality of driver assistant systems of the equippedvehicle comprises a headlamp control system of the equipped vehicle anda lane departure warning system of the equipped vehicle.
 52. Thevehicular vision system of claim 51, wherein the plurality of driverassistant systems of the equipped vehicle comprises a traffic signrecognition system of the equipped vehicle.
 53. The vehicular visionsystem of claim 30, wherein, responsive to image processing of imagedata captured by the interior-viewing camera, (i) position of thedriver's head is determined and (ii) direction that the driver's eyesare viewing is determined.
 54. The vehicular vision system of claim 53,wherein, responsive to image processing of image data captured by theinterior-viewing camera, position of the driver's head is tracked. 55.The vehicular vision system of claim 30, wherein image data captured bythe interior-viewing camera is provided to the ECU, and wherein imagedata captured by the interior-viewing camera and provided to the ECU isprocessed at the ECU.
 56. The vehicular vision system of claim 55,wherein the plurality of driver assistant systems of the equippedvehicle comprises a headlamp control system of the equipped vehicle anda lane departure warning system of the equipped vehicle.
 57. Thevehicular vision system of claim 56, wherein the plurality of driverassistant systems of the equipped vehicle comprises a traffic signrecognition system of the equipped vehicle.
 58. The vehicular visionsystem of claim 56, wherein, responsive to image processing of imagedata captured by the interior-viewing camera, (i) position of thedriver's head is determined and (ii) direction that the driver's eyesare viewing is determined.
 59. The vehicular vision system of claim 58,wherein, responsive to image processing of image data captured by theinterior-viewing camera, position of the driver's head is tracked. 60.The vehicular vision system of claim 58, wherein the object presentexterior of the equipped vehicle comprises a pedestrian.
 61. Thevehicular vision system of claim 58, wherein the object present exteriorof the equipped vehicle comprises a vehicle.
 62. A vehicular visionsystem, the vehicular vision system comprising: an interior-viewingcamera disposed in an interior cabin of a vehicle equipped with thevehicular vision system, the interior-viewing camera viewing a driver ofthe equipped vehicle; wherein the interior-viewing camera captures imagedata; wherein the interior-viewing camera comprises a CMOS imaging arraysensor having at least one million photosensor elements arranged inmultiple rows and columns of photosensor elements, a forward-viewingcamera disposed at a windshield of the equipped vehicle, theforward-viewing camera viewing at least forward of the equipped vehicle;wherein the forward-viewing camera comprises a CMOS imaging array sensorhaving at least one million photosensor elements arranged in multiplerows and columns of photosensor elements; wherein the forward-viewingcamera captures image data; wherein, responsive to image processing ofimage data captured by the interior-viewing camera (i) position of thedriver's head is determined and (ii) direction that the driver's eyesare viewing is determined; wherein, responsive to image processing ofimage data captured by the forward-viewing camera and to imageprocessing of image data captured by the interior-viewing camera, anobject present exterior of the equipped vehicle and viewable by thedriver is detected; and wherein, responsive to image processing of imagedata captured by the interior-viewing camera, a hand position of thedriver of the equipped vehicle is determined.
 63. The vehicular visionsystem of claim 62, wherein the object present exterior of the equippedvehicle comprises a pedestrian.
 64. The vehicular vision system of claim62, wherein the object present exterior of the equipped vehiclecomprises a vehicle.
 65. The vehicular vision system of claim 62,comprising a video display screen disposed in the equipped vehicleoperable to display video images.
 66. The vehicular vision system ofclaim 65, wherein video images derived from image data captured by atleast the forward-viewing camera are displayed at the video displayscreen for viewing by the driver of the equipped vehicle.
 67. Thevehicular vision system of claim 65, wherein, based at least in part onimage processing of image data captured by the interior-viewing camera,the displayed video images are adjusted.
 68. The vehicular vision systemof claim 67, wherein the displayed video images are adjusted based atleast in part on the determined direction that the driver's eyes areviewing.
 69. The vehicular vision system of claim 67, wherein the videodisplay screen displays an augmented reality overlay that is based atleast in part on processing of image data captured by theforward-viewing camera, and wherein the displayed augmented realityoverlay is based at least in part on the determined direction that thedriver's eyes are viewing.
 70. The vehicular vision system of claim 69,wherein the displayed augmented reality overlay pertains to at least oneaccessory of the equipped vehicle.
 71. The vehicular vision system ofclaim 70, wherein the displayed augmented reality overlay is displayedbased at least in part on a driving condition of the equipped vehicle.72. The vehicular vision system of claim
 65. wherein, responsive todetermination that the direction that the driver's eyes are viewing istowards an engine compartment of the equipped vehicle, information isdisplayed to the driver of the equipped vehicle, the displayedinformation pertaining to at least one of (i) engine operating RPM, (ii)oil pressure, (iii) oil level, (iv) coolant temperature and (v) tirepressure.
 73. The vehicular vision system of claim 65, wherein thevehicular vision system displays video images at the video displayscreen responsive to the determined hand position of the driver of theequipped vehicle.
 74. The vehicular vision system of claim 62, whereinthe determined hand position comprises a hand gesture by the driver ofthe equipped vehicle.
 75. The vehicular vision system of claim 62,wherein image data captured by the forward-viewing camera is provided toan electronic control unit (ECU) of the equipped vehicle, and whereinimage data captured by the forward-viewing camera provided to the ECU isprocessed at the ECU.
 76. The vehicular vision system of claim 75,wherein the vehicular vision system controls at least one accessory ofthe equipped vehicle responsive to the determined hand position of thedriver of the equipped vehicle.
 77. The vehicular vision system of claim76, wherein the determined hand position comprises a hand gesture by thedriver of the equipped vehicle.
 78. The vehicular vision system of claim75, wherein at least one of (i) pitch of the forward-viewing camera iscontrolled responsive to the determined hand position of the driver ofthe equipped vehicle, (ii) roll of the forward-viewing camera iscontrolled responsive to the determined hand position of the driver ofthe equipped vehicle and (iii) yaw of the forward-viewing camera iscontrolled responsive to the determined hand position of the driver ofthe equipped vehicle.
 79. The vehicular vision system of claim 78,wherein the determined hand position comprises a hand gesture by thedriver of the equipped vehicle.
 80. The vehicular vision system of claim62, wherein image data captured by the interior-viewing camera and imagedata captured by the forward-viewing camera are provided to anelectronic control unit (ECU) of the equipped vehicle, and wherein theimage data captured by the interior-viewing camera and the image datacaptured by the forward-viewing camera provided to the ECU are processedat the ECU.
 81. The vehicular vision system of claim 62, wherein,responsive to image processing of image data captured by theinterior-viewing camera, position of the driver's head is tracked. 82.The vehicular vision system of claim 62, wherein, responsive to imageprocessing of image data captured by the forward-viewing camera, adriving condition exterior of the equipped vehicle is determined. 83.The vehicular vision system of claim 82, wherein the determined drivingcondition exterior of the equipped vehicle comprises a parking maneuverof the equipped vehicle.
 84. The vehicular vision system of claim 62,wherein image data captured by the forward-viewing camera is processedfor a plurality of driver assistant systems of the equipped vehicle. 85.The vehicular vision system of claim 84, wherein the plurality of driverassistant systems of the equipped vehicle comprises a headlamp controlsystem of the equipped vehicle and a lane departure warning system ofthe equipped vehicle.
 86. The vehicular vision system of claim 85,wherein the plurality of driver assistant systems of the equippedvehicle comprises a traffic sign recognition system of the equippedvehicle.